Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
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IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this manuscript, an autonomous navigation algorithm for wheeled mobile robots WMR operating in dynamic environments indoors or structured outdoors is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues. 1 Reformulation of the Social Force Model SFM adapted to WMR; 2 the cohesion of a general inertial scheme to represents motion in any coordinate system; 3 control of actuators rotational speed as a general model regardless kinematic restrictions; 4 assuming detection of features obstacles/goals, adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework.